Low-profile tactile output apparatus and method

ABSTRACT

A tactile output apparatus is provided that includes a dermal contact surface. The apparatus also includes a first securing member and a second securing member. A first arm may be pivotally coupled to the first securing member, and a second arm may be pivotally coupled to the second securing member. The first arm may also be pivotally coupled to the second arm at an arm pivot point, and the dermal contact surface may move with the arm pivot point. The first securing member may be movable along a first securing member travel path towards or away from the second securing member and movement of the first securing member along the first securing member travel path may cause responsive movement of the arm pivot point and the dermal contact surface in a direction having a movement component perpendicular to the first securing member travel path.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/787,479 filed on Jan. 2, 2019, the entire contents of which arehereby incorporated herein by reference.

TECHNICAL FIELD

Example embodiments generally relate to user interface technologies and,in particular, relate to the tactile or haptic output and feedbackapparatuses and methods.

BACKGROUND

As computing systems and communications devices become more powerful andcomplex, the interface between these systems and devices and the userscontinues to provide challenges to seamless human interaction andtherefore poses difficult technical problems that have yet to be solved.For example, the conventional ability to depress a button on a keyboardto instruct a device to take an action, has largely been replaced byinteraction with a touch screen display that provides little to nohaptic or tactile information to the user as selections are made by auser. In an effort to provide some information to the user regarding theinteraction with the touch screen display, some devices trigger avibration in an effort to mimic or replace the feel of depressing abutton. However, such vibration-based indications can be awkward andunnatural for the user and therefore can detrimentally affect userexperience. Further, such vibration-based indications also prove lesseffective in implementations that may not involve interfacing with auser's fingers or hands. Such implementations may include those thatare, for example, tailored for disabled users that require more discreteindications than a vibrating-approach can offer. As such, furtherinnovation in the area of haptic or tactile outputs and feedback fromcomputing systems and communications devices is needed.

BRIEF SUMMARY OF SOME EXAMPLES

According to some example embodiments, a tactile output apparatus isprovided. The tactile output apparatus may comprise a dermal contactsurface, a first securing member, and a second securing member. Thetactile output apparatus may also comprise a first arm pivotally coupledto the first securing member and a second arm pivotally coupled to thesecond securing member. In this regard, the first arm may also bepivotally coupled to the second arm at an arm pivot point, and thedermal contact surface may move with the arm pivot point. Further, thefirst securing member may be movable along a first securing membertravel path towards or away from the second securing member. Also,movement of the first securing member along the first securing membertravel path may cause responsive movement of the arm pivot point and thedermal contact surface in a direction having a movement componentperpendicular to the first securing member travel path.

According to some example embodiments, another tactile output apparatusis provided. The tactile output apparatus may comprise a dermal contactsurface, a first securing member, and a second securing member. Thetactile output apparatus may also comprise a first arm pivotally coupledto the first securing member and a second arm pivotally coupled to thesecond securing member. The first arm may also be pivotally coupled tothe second arm at an arm pivot point, and the dermal contact surface maymove with the arm pivot point. Further, the tactile output apparatus maycomprise a first control cable operably coupled to the first securingmember and a second control cable operably coupled to the secondsecuring member. In this regard, actuation of the first control cablemay move the first securing member along a first securing member travelpath towards or away from the second securing member, and actuation ofthe second control cable may move the second securing member along asecond securing member travel path towards or away from the firstsecuring member. Additionally, actuation of the first control cable tomove the first securing member along the first securing member travelpath or actuation of the second control cable to move the secondsecuring member along the second securing member travel path may causeresponsive movement of the arm pivot point and the dermal contactsurface in a direction having a movement component perpendicular to thefirst securing member travel path or the second securing member travelpath.

Additionally, according to some example embodiments, an example methodis provided. The example method may comprise actuating a first controlcable operably coupled to a first securing member to move the firstsecuring member towards a second securing member along a first securingmember travel path, and actuating a second control cable operablycoupled to a second securing member to move the second securing membertowards the first securing member along a second securing member travelpath. The example method may further comprise pivoting a first armrelative to the first securing member in response to moving the firstsecuring member towards the second securing member. In this regard, thefirst arm may be pivotally coupled to the first securing member. Theexample method may further comprise pivoting a second arm relative tothe second securing member in response to moving the second securingmember towards the first securing member. In this regard, the second armmay be pivotally coupled to the second securing member and the secondarm may be pivotally coupled to the first arm at an arm pivot point.Further, the example method may also comprise causing the arm pivotpoint and a dermal contact surface that moves with the arm pivot pointto move in a direction having a movement component perpendicular to thefirst securing member travel path and the second securing member travelpath, in response to the movement of the first securing member and thesecond securing member. Further, the example method may also comprise inresponse to the movement of the dermal contact surface, applying atactile force on a dermal surface of a user via the dermal contactsurface to provide tactile output to the user.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Having thus described some embodiments in general terms, reference willnow be made to the accompanying drawings, which are not necessarilydrawn to scale, and wherein:

FIG. 1 is an illustration of a tactile output apparatus according tosome example embodiments;

FIG. 2 is an illustration of a top perspective view of a tactile outputdevice in a fully retracted position according to some exampleembodiments;

FIG. 3 is an illustration of a top view of a tactile output device in afully retracted position according to some example embodiments;

FIG. 4 is an illustration of a cross-section side view of a tactileoutput device in a fully retracted position according to some exampleembodiments;

FIGS. 5 and 6 are illustrations of a cross-section side view of atactile output device in a fully extended position according to someexample embodiments;

FIG. 7 is an illustration of a cross-section side view of a tactileoutput device with a dermal contact surface plate according to someexample embodiments;

FIG. 8 is an illustration of a cross-section side view of a tactileoutput device with a dermal contact surface flexible member according tosome example embodiments;

FIG. 9 is an illustration of a cross-section side view of a tactileoutput device in a fully extended position with the dermal contactsurface offset from a center according to some example embodiments;

FIG. 10 is an illustration of a top view of a tactile output device in afully retracted position including electromagnetic actuators accordingto some example embodiments;

FIG. 11 is an illustration of a tactile output apparatus comprising anarray of tactile output devices according to some example embodiments;and

FIG. 12 is a flowchart of an example method of operating a tactileoutput device according to some example embodiments.

DETAILED DESCRIPTION

Some example embodiments will now be described more fully with referenceto the accompanying drawings, in which some, but not all exampleembodiments are shown. Indeed, the examples described and picturedherein should not be construed as being limiting as to the scope,applicability, or configuration of the present disclosure. Rather, theseexample embodiments are provided so that this disclosure will satisfyapplicable legal requirements. Like reference numerals refer to likeelements throughout. The term “or” as used herein is defined as thelogical or that is true if either or both are true.

Various example embodiments are provided herein that employ a moveabledermal contact surface that presses into a user's skin or dermal surfaceto provide a tactile or haptic output to the user. Such a dermal contactand applied pressure may be provided as an output of a user interface ofan electronic device, such as a computing system or a communicationsdevice. The moveable dermal contact surface may be positioned on auser's skin in any number of locations on the user's body, which canprove to be particularly effective with paralyzed or otherwise disabledusers. Some example positions may include soft and sensitive tissuelocations such as the inner portion of the upper arm or forearm. Otherexample positions may include on or near a user's hand or foot (e.g., ina glove or footwear).

The dermal contact surface may be a component of a low-profile tactileoutput device that can be controlled, for example, directly orindirectly by control circuitry, to cause the dermal contact surface toextend out of a housing of the device to increase a contact depth andpressure applied to the skin of the user. According to some exampleembodiments, the low-profile nature of the device may be defined by thefully extended position of the dermal contact surface having a distancefrom a top surface of device's housing that is larger than a height ofthe housing (i.e., the dermal contact surface may extend out of thehousing or a cavity in the housing further than the height of thehousing or a depth of the cavity) as further described below. As alow-profile tactile device, according to some example embodiments, thedevice may be applied at positions, such as the inner upper arm of theuser, without substantial discomfort due to the relatively small heightof the device.

Additionally, a control mechanism and electronics that controls thetactile output device, according to some example embodiments, may bedisposed remote from the device, for example, on an external or outerportion of the upper arm, or on a belt or backpack, or the like. In someexample embodiments, the tactile output device may be mechanicallycontrolled by a remote electromechanical actuator via, for example,control cables connected between the remote actuator (e.g., disposed onan outer portion of the arm) and the tactile output device (e.g.,disposed on an inner portion of the arm). As such, by locating thecontrol circuitry and the electromechanical actuators remote from thetactile output device, the size of the tactile output device may beminimized, thereby increasing the comfort of placing the device inplaces such as the inner portion of the arm. Alternatively, the tactileoutput device may be configured to move the dermal contact surface viaan electromechanical actuator disposed proximate or within the housingof the tactile output device. However, the electronic control circuitryconfigured to send signals to control the electromechanical actuator maybe located remote from the tactile output device but linked to thecontrol circuitry via a wired or wireless communications connection.

Accordingly, FIG. 1 illustrates a block diagram of a tactile outputapparatus 10 according to some example embodiments. In this regard, thetactile output apparatus 10 may be comprised of a control unit 12,control cables 18, and a tactile output device 20. The tactile outputapparatus 10 may be a component of a user interface of an electronicdevice such as, for example, a computing system or a communicationsdevice.

The control unit 12 may be comprised of control circuitry 14electrically connected to an electromechanical actuator 16. According tosome example embodiments, the electrical connection may be wired orwireless. The control circuitry 14 may include a processor and a memorythat may be configured to support various functionalities of tactileoutput apparatus 10 described herein, as well as, in some exampleembodiments, other functionalities of an electronic device thatcomprises the tactile output apparatus 10. The control circuitry 14 mayalso include other passive and active electronic components configuredto support the operation of the control circuitry 14 as describedherein. In some example embodiments, the processor of the controlcircuitry 14 may be configured to execute instructions stored in amemory to effectuate the functionality described herein. Alternatively,the processor may be hardware configured as, for example, an applicationspecific integrated circuit (ASIC), a field programmable gate array(FPGA), or the like configured to execute the functionality of thecontrol circuitry 14 as described herein.

The electromechanical actuator 16 may be any type of device configuredto receive an electrical signal from the control circuitry 14 and, inresponse to the electrical signal, generate a physical or mechanicalmovement. For example, the electromechanical actuator 16 may be a servo,a motor, a solenoid actuator, or the like. In this regard, the physicalmovement may be utilized to ultimately cause movement of the dermalcontact surface of the tactile output device 20. In this regard, themechanical moving components of the electromechanical actuator 16 may bephysically connected to a control cable 18. The control cable 18 may bea bundle of cables where each may be a co-axial cable that moves withinan exterior sheath between a contracted position and an extendedposition. According to some example embodiments, the control cable 18may include first cable and a second cable, where each cable operates tocontrol a securing member and an arm of the tactile output device asfurther described below. In this regard, the electromechanical actuator16 may be a single actuator that controls the movement of both the firstand second cable, and the first and second cable may therefore move inunison by the same distance when actuation occurs. Alternately, theelectromechanical actuator 16 may comprise two or more actuators thatoperate and are controlled independently of each other and are eachphysically connected to a respective control cable. In this regard, thecontrol circuitry may control each of the separate actuators to movetheir respective cable independently such that, for example, the cablescan but do not necessarily move in unison by the same amount (inopposite directions as described below). Such disparate movement mayresult in different types of movements of the dermal contact surface asfurther described below.

The tactile output device 20 may be applied adjacent to and onto theuser's skin or dermal surface 32 and may include a moving element in theform of a dermal contact surface 21 that controllably extends into theskin 32 and away from the skin to provide a tactile output to the user.As shown in FIG. 1, the tactile output device 20 may, for example, beheld in place by a strap 22 that may wrap around, for example, a user'sarm 30. In this regard, the strap 22 may hold the tactile output device20 in place such that movement of the dermal contact surface 21 appliesa force onto the user's skin 32 that is highly detectable by the user.In this regard, the electromechanical actuator 16 may be configured toreceive an electrical signal from the control circuitry 14, and inresponse to the electrical signal, actuate one or more control cables 18to move a first securing member or a second securing member andultimately cause dermal contact surface 21 to apply pressure on the skinor dermal surface of the user or relieve pressure on the skin or dermalsurface of the user.

Having generally described the context and operation of the tactileoutput apparatus 10 and the tactile output device 20, FIGS. 2 through 6will now be described which illustrate example embodiments of a tactileoutput device 100. In this regard, FIG. 2 illustrates a top perspectiveview of the tactile output device 100 which may be an example of thetactile output device 20. FIG. 3 illustrates a top view of the tactileoutput device 100 with an indication of a cross-section at A-A. In thisregard, FIG. 4 shows a cross-section view of the tactile output device100 at A-A with a dermal contact surface 180 in a fully retractedposition. FIGS. 5 and 6 show a cross-section view of the tactile outputdevice 100 at A-A with the dermal contact surface 180 in a fullyextended position.

With respect to the structure of the tactile output device 100, thetactile output device 100 may comprise a housing 110 that receives firstcontrol cable 118 and second control cable 119 and includes a cavity130. The mechanism for causing movement of the dermal contact surface180 may be disposed within the cavity 130.

In this regard, the mechanism for causing movement of the dermal contactsurface 180 comprises the first control cable 118, the second controlcable 119, a first securing member 150, a second securing member 155, afirst arm 115, and a second arm 120. According to some exampleembodiments, the mechanism may also include a rod 160 and a biasingmember 165. As mentioned above, these components may be disposed in thecavity 130 formed in the housing 110.

In short and as described in further detail below, movement of thecontrol cables 118 and 119 can cause movement of the securing members150 and 155, along, for example, respective travel paths within thecavity 130. As the securing members 150 and 155 move towards each other,the arms 115 and 120, which are pivotally affixed to the securingmembers 150 and 155 respectively, rotate upwards (e.g., out of thecavity 130) due to the pivoting engagement between the arm 115 and 120at an arm pivot point 123. Since the dermal contact surface 180 moveswith the arm pivot point 123, the dermal contact surface 180 also movesupward and into increased contact with the skin of a user. In thisregard, as provided in FIGS. 2 through 6, the dermal contact surface 180may be disposed on the uppermost surface of the first arm 115 and thesecond arm 120. Additionally, as the securing member 150 and 155 moveaway from each other due to movement of the control cables 118 and 119,the arms 115 and 120 rotate downwards (e.g., into the cavity 130) andthe dermal contact surface 180 decreases contact pressure with the skinof the user and retracts into the cavity 130.

According to some example embodiments, the housing 110 may be a rigidstructure formed of, for example, a hard plastic or the like. Accordingto some example embodiments, the rigid structure of the housing 110 mayfacilitate constrained movement of the components of the mechanismdisposed in the cavity 130. The first control cable 118 and the secondcontrol cable 119 may enter the housing via a channel or passage thatextends from an exterior of the housing 110 and into the cavity 130.According to some example embodiments, the housing 110 may includeopenings 140 that may be used with fasteners that pass through theopenings to secure the housing 110 to a support base.

An end of the first control cable 118 extending into the cavity 130 maybe physically connected to the first securing member 150. Similarly, anend of the second control cable 119 extending into the cavity 130 may bephysically connected to the second securing member 155. Due to thephysical connection between the control cables 118 and 119 with thesecuring members 150 and 155, respectively, movement of the controlcables 118 and 119 (e.g., as provided by electromechanical actuator 16)may cause responsive movement of the securing members 150 and 155 withinthe cavity 130.

The securing members 150 and 155 may be formed in a number of shapes,such as in the form of blocks as shown in FIGS. 2 through 6. Further,the securing members 150 and 155 may be configured to be moveable inresponse to actuation of the control cables 118 and 119, and furthertranslate that movement into movement of the first arm 115 and thesecond arm 120, which may be pivotally coupled to the first securingmember 150 and the second securing member 155, respectively.

Movement of the securing members 150 and 155 within the cavity 130 maybe constrained to a respective travel path. According to some exampleembodiments, the travel paths of the securing members 150 and 155 may belinear. For example, the travel paths of the first securing member 150and the second securing member 155 may be constrained to move along anaxis 101, which may be defined by a rod 160. The rod 160 may be affixedto the interior side walls of the cavity 130 and the rod 160 may passthrough respective channels in the first securing member 150 and thesecond securing member 155 to restrict the movement of the firstsecuring member 150 and the second securing member 155. The movement ofthe first securing member 150 may therefore occur along a first securingmember travel path that is defined along the axis 101 and the movementof the second securing member 155 may therefore occur along a secondsecuring member travel path that is also defined along the axis 101. Thefirst securing member travel path may be defined along the axis 101between a position adjacent a first sidewall 151 of the cavity 130(i.e., a first securing member retracted position) and a positionadjacent to a central axis 113 of the cavity 130 (i.e., a first securingmember extended position). The second securing member travel path mayalso be defined along the axis 101 between a position adjacent a secondsidewall 156 of the cavity 130 (i.e., a second securing member retractedposition) and a position adjacent to a central axis 113 of the cavity130 (i.e., a second securing member extended position). In this regard,the second sidewall 156 may be disposed opposite the first sidewall 151within the cavity 130 and the rod 160 may be affixed between thesesidewalls 151 and 156. The central axis 113 of the cavity 130 may bedefined, according to some example embodiments, as passing through apoint that bisects the rod 160. The central axis 113 may also intersectwith the axis 105, as further defined below.

As such, according to some example embodiments, movement or actuation ofthe first control cable 118 may cause the first securing member 150 tomove along the axis 101 and the first securing member travel pathtowards or away from the second securing member 155. In this regard, thefirst securing member 150 may move between a first securing memberretracted position and a first securing member extended position. As thefirst securing member 150 moves from the first securing member retractedposition to a first securing member extended position, the firstsecuring member moves toward the second securing member 155 along theaxis 101. Further, as the first securing member 150 moves from a firstsecuring member extended position to the first securing member retractedposition, the first securing member moves away from the second securingmember 155 along the axis 101.

Additionally, according to some example embodiments, movement of thesecond control cable 119 may cause the second securing member 155 tomove along the axis 101 and the second securing member travel pathtowards or away from the first securing member 150. In this regard, thesecond securing member 155 may move between a second securing memberretracted position and a second securing member extended position. Asthe second securing member 155 moves from the second securing memberretracted position to a second securing member extended position, thesecond securing member moves toward the first securing member 150 alongthe axis 101. Further, as the second securing member 155 moves from thesecond securing member extended position to the second securing memberretracted position, the second securing member moves away from the firstsecuring member 150 along the axis 101.

Rather than the rod 160, other means for constraining the movement ofthe first securing member 150 and the second securing member 155 arecontemplated. For example, in some example embodiments, the firstsecuring member 150 and the second securing member 155 may includeprotrusions that travel within a guide slot in, for example, the rearwall or floor of the cavity 130 to constrain the movement of thesecuring member 150 and 155. Alternatively, a track rather than a guideslot may be used.

Additionally, according to some example embodiments, a biasing member165 may be disposed between the first securing member 150 and the secondsecuring member 155 to urge the securing members apart (or in someexamples, together). As such, the biasing member 165 may urge the firstsecuring member 150 toward the first securing member retracted positionand the second securing member 155 toward the second securing memberretracted position. As such, the movement force applied on the securingmember 150 and 155 by the control cables 118 and 119 may be required tohave a magnitude sufficient to overcome the force applied by the biasingmember 165 to cause the securing member 150 and 155 to move towards eachother. The biasing member 165 may be configured to urge the firstsecuring member 150 and the second securing member 155 apart, and thearm pivot point 123 towards a fully retracted position, as furtherdescribed herein.

According to some example embodiments, the biasing member 165 may be aspring disposed between the first securing member 150 and the secondsecuring member 155. The spring may be a coil spring that is disposed onthe rod 160, such that the spring spirals around the rod 160 and is incontact with the first securing member 150 and the second securingmember 155. Alternatively, the biasing member 165 (or members) may bedisposed in operable coupling with the control cables 118 and 119 tourge the control cables into a position that, in turn, would urge thesecuring members into respective positions. As another alternative, thebiasing member 165 (or members) may be disposed between the sidewalls ofthe cavity 130 and the securing members 150 and 155 to, for example,pull the securing members 150 and 155 toward the sidewalls.Alternatively, according to some example embodiments, the arms 115 and120 may be affixed to a torsion spring that urges the arms 115 and 120apart, and thereby the securing members 150 and 155 into the retractedposition. Additionally, one of skill in the art would appreciate thatthe urging force applied by the biasing member 165, in whatever form,may be reversed to cause the mechanism to default (e.g., when thecontrol cables 118 and 119 apply no force) into an extended positionrather than a retracted position.

As mentioned above, the arms 115 and 120 may be pivotally affixed to thesecuring members 150 and 155 and to each other such that movement of thesecuring members 150 and 155 results in movement of the arms 115 and120. In this regard, the arms 115 and 120 may be elongated members thatpivotally couple at an arm pivot point 123, for example, via a pin 124.In this regard, at the arm pivot point 123, according to some exampleembodiments, at least one of the arms 115 and 120 may have an openingthrough which a pin 124 passes. As such, the pin 124 may be able torotate within the opening (or in some examples, the pin 124 may notrotate instead arm 115 and/or arm 120 may rotate around the pin 124) topermit the arms 115 and 120 to move in a hinged fashion relative to eachother about the pin 124. According to some example embodiments, the arms115 and 120 may be pivotally coupled to each other near respective endsof the arms 115 and 120, or, according to some example embodiments, thelengths of the arms 115 and 120 may extend past the arm pivot point 123such that the arm pivot point 123 is disposed away from one or both endsof the arms 115 and 120.

In addition to being pivotally coupled to the second arm 120, the firstarm 115 may also be pivotally coupled to the first securing member 150.In this regard, for example as shown in FIGS. 4 and 5, a pin 116 maypivotally couple the first arm 115 to the first securing member 150.Similarly, in addition to being pivotally coupled to the first arm 115,the second arm 120 may also be pivotally coupled to the second securingmember 155. In this regard, for example, a pin 121 may pivotally couplethe second arm 120 to the second securing member 155. As such, due tothese couplings, movement of the securing members 150 and 155, asdescribed above, between extended and retracted positions causesmovement of the arms 115 and 120 between extended and retractedpositions due to the relative rotational movement.

With respect to the movement of the components of the tactile outputdevice 100, FIG. 4 shows the tactile output device 100 and itscomponents in the fully retracted positions. In general, according tosome example embodiments, the first arm 115 and second arm 120 may beconfigured to move such that as a distance between the first securingmember 150 and the second securing member 155 decreases, the arm pivotpoint 123 moves away from a fully retracted position and towards a fullyextended position. In this regard, the securing members 150 and 155 areadjacent to the sidewalls 151 and 156 and the arm pivot point 123 (aswell as the dermal contact surface 180) are at their lower-mostpositions as shown in FIG. 4. As such, if the control cable 118 and 119are actuated to move the securing members 150 and 155 towards each other(with the first securing member 150 moving in accordance with arrow 102and the second securing member 155 moving in accordance with arrow 103),the arm pivot point 123 may move in a direction with at least acomponent of the movement in a direction perpendicular to the travelpaths of the first securing member 150 and second securing member 155.This component of perpendicular movement of the arm pivot point 123 isindicated by arrow 106 along axis 105 which is perpendicular and skewedwith respect to axis 101 and the travel paths of the securing members150 and 155. Further, in a scenario where the control cable 118 and 119are actuated to move the securing members 150 and 155 in unison at thesame rate, the arm pivot point 123 may move only in the directionperpendicular to the axis 101, i.e., linearly. In this regard, actuationof the first control cable 118 to move the first securing member 150along the first securing member travel path or actuation of the secondcontrol cable 119 to move the second securing member 155 along thesecond securing member travel path may cause responsive movement of thearm pivot point 123 and the dermal contact surface 180 in a directiononly substantially perpendicular to the first securing member travelpath or the second securing member travel path.

In this regard, FIG. 5 shows the tactile output device 100 in a fullyextended position. In this regard, the first securing member 150 and thesecond securing member 155 have moved towards each other to inner-mostpositions relative to a center of the rod 160 (i.e., the first securingmember fully extended position and the second securing member fullyextended position). In this regard, the fully extended position of theof the arms 115 and 120 can occur when the first securing member 150 andsecond securing member 155 are a minimum distance away from each other.As such, the arm pivot point 123 and the dermal contact surface 180 arepositioned at respective fully extended positions (e.g., maximum heightsextending out of the cavity 130). When moving back towards the fullyretracted position, the first securing member 150 may move in thedirection of the arrow 108 along the axis 101 toward the sidewall 151,the second securing member 155 may move in the direction of the arrow107 along the axis 101 toward the sidewall 156, and the arm pivot point123 may move in the direction of the arrow 109 toward the floor 157 ofthe cavity 130.

Accordingly, actuation of the first control cable 118 to move the firstsecuring member 150 along the first securing member travel path oractuation of the second control cable 119 to move the second securingmember 155 along the second securing member travel path may causeresponsive movement of the arm pivot point 123. Additionally, since thearm pivot point 123 and the dermal contact surface 180 move together ordo not move relative to each other, the dermal contact surface 180 maymove in a direction having a movement component perpendicular to thefirst securing member travel path or the second securing member travelpath.

FIG. 6 illustrates relative measurements associated with the movement ofthe components of the tactile output device 100 relative to the fullyretracted position and the fully extended position. In this regard, thecavity 130 defines a depth 210 that extends from the floor 157 of thecavity 130 to the top surface 158 of the housing 110. In the fullyextended position (i.e., the arm pivot point 123 is in a fully extendedposition), as shown in FIG. 6, the dermal contact surface 180 extendsabove the top surface 158 of the housing 110 by a distance 215.According to some example embodiments, the tactile output device 100 isa low-profile device because the distance 215 is greater than the depth210. In other words, the dermal contact surface 180 extends further outof the cavity 130 than the depth of the cavity 130 when the tactileoutput device 100 and its components are in the fully extended position.In this regard, one of skill in the art would appreciate that if longerarms 115 and 120 are used (e.g., requiring a wider but not deeper cavity130), then the dermal contact surface 180 may extend even further out ofthe cavity 130 without increasing a height of the tactile output device100.

FIGS. 7 and 8 illustrate alternative dermal contact surfaces. In thisregard, referring to FIG. 7, the dermal contact surface 180 may be on anexternal surface of a plate 300 that is affixed to one or both of thearms 115 or 120. In this regard, according to some example embodiments,the plate 300 may have a larger surface area relative to the edges ofthe arms 115 and 120, and therefore the engagement with the user's skinwhen the dermal contact surface 180 is disposed on the plate 300 may beincreased and potentially more detectable by the user. According to someexample embodiments, the area and shape of the plate 300 may be the sameor similar to the area and shape of opening in the cavity 130. Further,according to some example embodiments, the plate 300 may be configuredto maintain an orientation such that a plane of an external surface ofthe plate 300 (i.e., the dermal contact surface 180) may besubstantially orthogonal to the movement of the arm pivot point 123along the axis 105. Further, the external surface of the plate 300(i.e., the dermal contact surface 180) may have a texture or protrusions(e.g., bumps) to increase contact surface area and indication ofmovement of the dermal contact surface 180 on the user's skin.

Alternatively, FIG. 8 shows an example embodiment of the tactile outputdevice 100 with a flexible member 400 disposed over the opening in thecavity 130, and the dermal contact surface 180 may be disposed on a topsurface of the flexible member 400. The first arm 115 or the second arm120 may be disposed in contact with the flexible member 400 on aninternal surface of the flexible member 400. In this regard, theflexible member 400 may be affixed to the top surface 158 of the housing110 such that the opening in the cavity 130 is covered by the flexiblemember 400. In this regard, the flexible member 400 may be a pliablemembrane made of, for example, latex, rubber, fabric, or the like.According to some example embodiments, the flexible member 400 may alsoapply a biasing force on the arms 115 and 120 that tends to urge thearms 115 and 120 towards the fully retracted positions.

The example embodiments shown in FIGS. 2 through 8 show the securingmembers 150 and 155 displaced at equal distances from a center (e.g.,central axis 113 of FIG. 3). However, as mentioned above, the controlcables 118 and 119 may be separately and independently controlled andtherefore the first securing member 150 and the second securing member155 need not move in unison by the same distances, in oppositedirections along the axis 101. As such, in scenarios where the securingmembers 150 and 155 move differently, the arm pivot point 123 and thedermal contact surface 180 may move partially in the perpendiculardirection along axis 105, but also in a parallel direction based on themovement of one of the securing members. For example, as shown in FIG.9, the first securing member 150 has moved toward the second securingmember 155, while the second securing member 155 has remained stationaryin a position adjacent the sidewall 156. The first securing member 150may have moved into a fully extended position relative to the secondsecuring member 155. In this regard, according to some exampleembodiments, the first securing member 150 and the second securingmember 155 may be in a fully extended position when a distance betweenthe first securing member 150 and the second securing member 155 is at aminimum.

Accordingly, the arm pivot point 123 moves in an arcuate manner alongthe path 500 by moving perpendicular or upwards by a distance 510 andalso parallel or sideways by a distance 520. As such, the dermal contactsurface 180 may undertake a sliding motion that is included in theupwards or perpendicular motion when applied to the skin of a user. Sucha motion may be detectable as a different type of motion from a solelyperpendicular motion to provide a different output to the user. In thisregard, according to some example embodiments, the second securingmember 155 may be permanently fixed in position and only the firstsecuring member 150 may be moveable, thereby, according to some exampleembodiments, requiring only one control cable 118 to move the dermalcontact surface 180. Accordingly, movement of only one of the securingmembers 150 or 155 may be needed, according to some example embodiments,to move the dermal contact surface 180 from the fully retracted positionto a fully extended position.

FIG. 10 illustrates another example embodiment of the tactile outputdevice 100 that include electromagnetic actuators 600 and 610 that areelectrically controllable by the control circuitry 14 and electricalsignals provided to the electromagnetic actuators 600 and 610 by thecontrol circuitry 14. In this regard, using the electromagneticactuators 600 and 610, the first securing member 150 and the secondsecuring member 155 may be moved via controlled magnetic force withoutthe need for mechanical control cables 118 and 119. In this regard, forexample, the first securing member 150 and the second securing member155 may include a ferrous material that can be attracted to a magneticforce generated by the electromagnetic actuators 600 and 610.Electromagnetic actuator 600 may be controlled to move first securingmember 150 and electromagnetic actuator 610 may be controlled to movethe second securing member 155. Via the electromagnetic actuators 600and 610, the first securing member 150 and the second securing member155 may move in the same manner as described above between fullyretracted and fully extending positions.

Referring now to FIG. 11, an example embodiment of a tactile outputapparatus comprising an array 700 of tactile output devices is shown. Inthis regard, a plurality of tactile output devices 720 are shown affixedto a common substrate 710. Each of the tactile output devices 720 may beseparately controlled to move their respective dermal contact surfaces.To do so, the control circuitry 14 may provide electrical signals to aplurality of electromechanical actuators 21. In this regard, anelectromechanical actuator may be physically coupled to each controlcable within in a control cable bundle 19 to control the individualtactile output devices 720 within the array 700. Via the array, avariety of different outputs may be provided to the user based on thevarious combinations and permutations of dermal contact surface movementamongst the tactile output devices 720.

Now referring to FIG. 12, a flowchart of an example method 800 foroperating a tactile output device according to some example embodimentsis provided. In this regard, according to some example embodiments, at810, the example method may comprise actuating a first control cableoperably coupled to a first securing member to move the first securingmember towards a second securing member along a first securing membertravel path. The example method may further comprise, at 820, actuatinga second control cable operably coupled to a second securing member tomove the second securing member towards the first securing member alonga second securing member travel path. Additionally, at 830, the examplemethod may comprise pivoting a first arm relative to the first securingmember in response to moving the first securing member towards thesecond securing member. In this regard, the first arm may be pivotallycoupled to the first securing member. Further, at 840, the examplemethod may comprise pivoting a second arm relative to the secondsecuring member in response to moving the second securing member towardsthe first securing member. In this regard, the second arm may bepivotally coupled to the second securing member and the second arm maybe pivotally coupled to the first arm at an arm pivot point. The examplemethod may also comprise, at 850, causing the arm pivot point and adermal contact surface that moves with the arm pivot point to move in adirection having a movement component perpendicular to the firstsecuring member travel path and the second securing member travel path,in response to the movement of the first securing member and the secondsecuring member. Additionally, at 860, the example method may comprise,in response to the movement of the dermal contact surface, applying atactile force on a dermal surface of a user via the dermal contactsurface to provide tactile output to the user.

Additionally, according to some example embodiments of the examplemethod, the first securing member travel path and the second securingmember travel path may be linear. Additionally or alternatively,actuating the first control cable to move the first securing member maycomprise actuating the first control cable to move the first securingmember against an urging force of a biasing member. Additionally oralternatively, according to some example embodiments, causing the armpivot point and a dermal contact surface to move may comprise causingthe arm pivot point to move to a fully extended position such that, withthe arm pivot point in the fully extended position, a distance betweenthe dermal contact surface and a top surface of a housing, is largerthan a depth of a cavity of a housing. In this regard, the firstsecuring member and the second securing member may be disposed withinthe cavity of the housing. Additionally or alternatively, the firstsecuring member travel path and the second securing member travel pathmay be defined by a rod that passes through the first securing memberand the second securing member.

In some embodiments of the example methods described above, additionaloptional operations may be included or the operations described abovemay be modified or augmented. Each of the additional operations,modification or augmentations may be practiced in combination with theoperations above and/or in combination with each other. Thus, some, allor none of the additional operations, modification or augmentations maybe utilized in some embodiments.

The embodiments presented herein are provided as examples and thereforethe disclosure is not to be limited to the specific embodimentsdisclosed. Modifications and other embodiments are intended to beincluded within the scope of the appended claims. Moreover, although theforegoing descriptions and the associated drawings describe exampleembodiments in the context of certain example combinations of elementsand/or functions, different combinations of elements and/or functionsmay be used to form alternative embodiments. In this regard, forexample, different combinations of elements and/or functions other thanthose explicitly described above are also contemplated. In cases whereadvantages, benefits or solutions to problems are described herein, itshould be appreciated that such advantages, benefits and/or solutionsmay be applicable to some example embodiments, but not necessarily allexample embodiments. Thus, any advantages, benefits or solutionsdescribed herein should not be thought of as being critical, required oressential to all embodiments.

That which is claimed:
 1. A tactile output apparatus comprising: ahousing; a dermal contact surface configured to move relative to thehousing to provide a tactile output; a first securing member and asecond securing member disposed within the housing; a first armcomprising a first arm distal end and a first arm proximal end, thefirst arm proximal end pivotally coupled to the first securing member ata first pivot; a second arm comprising a second arm distal end and asecond arm proximal end, the second arm proximal end pivotally coupledto the second securing member at a second pivot, the first securingmember and the second securing member configured to move linearly alongan axis, the axis defined by the first securing member and the secondsecuring member; a third pivot pivotally coupling the first arm distalend with the second arm distal end, the third pivot configured to movetoward or away from the housing via a third pivot travel path that isperpendicular to the axis while the first arm proximal end movesparallel with the axis away or toward the second arm proximal end,wherein the dermal contact surface moves with the third pivot; a firstcontrol cable operably coupled to the first securing member; and asecond control cable operably coupled to the second securing member;wherein actuation of the first control cable moves the first securingmember along the axis towards or away from the second securing member;wherein actuation of the second control cable moves the second securingmember along the axis towards or away from the first securing member;and wherein the first control cable and the second control cable areactuated to move the first securing member and the second securingmember in unison at a same rate along the axis and actuation of thecontrol cables causes responsive movement of the third pivot onlylinearly perpendicular to the axis.
 2. The tactile output apparatus ofclaim 1 further comprising an electromechanical actuator operablycoupled to the first control cable or the second control cable, theelectromechanical actuator being configured to receive an electricalsignal.
 3. The tactile output apparatus of claim 1 wherein the first armand second arm are configured to move such that as a distance betweenthe first securing member and the second securing member decreases, thethird pivot moves away from a fully retracted position and towards afully extended position.
 4. The tactile output apparatus of claim 1wherein the housing comprises a cavity, the first securing member andthe second securing member being disposed within the cavity; and aflexible member coupled to the housing and covering the cavity, thedermal contact surface being disposed on an external surface of theflexible member and the first arm or the second arm being disposed incontact with the flexible member on an internal surface of the flexiblemember.
 5. The tactile output apparatus of claim 1 wherein the housingcomprises a cavity, the first securing member and the second securingmember being disposed within the cavity; and wherein when the thirdpivot is in a fully extended position, a distance between the dermalcontact surface and a top surface of the housing is larger than a depthof the cavity.
 6. The tactile output apparatus of claim 1 furthercomprising a rod that passes through the first securing member and thesecond securing member, wherein the first securing member and the secondsecuring member travel along the axis using the rod.
 7. The tactileoutput apparatus of claim 6 further comprising a biasing member disposedbetween the first securing member and the second securing member, thebiasing member being configured to urge the first securing member andthe second securing member apart and the third pivot towards a fullyretracted position.
 8. The tactile output apparatus of claim 1 furthercomprising a plate operably coupled to the first arm distal end or thesecond arm distal end, the dermal contact surface being disposed on anexternal surface of the plate, and the plate maintaining an orientationsuch that a plane of an external surface of the plate is substantiallyorthogonal to movement of the third pivot.
 9. A tactile output apparatuscomprising: a housing; a dermal contact surface configured to moverelative to the housing to provide a tactile output; a first securingmember and a second securing member disposed within the housing; a firstarm comprising a first arm distal end and a first arm proximal end, thefirst arm proximal end pivotally coupled to the first securing member; asecond arm comprising a second arm distal end and a second arm proximalend, the second arm proximal end pivotally coupled to the secondsecuring member at a second pivot, the first securing member and thesecond securing member configured to move linearly along an axis, theaxis defined by the first securing member and the second securingmember; and a third pivot pivotally coupling the first arm distal endwith the second arm distal end, the third pivot configured to movetoward or away from the housing via a third pivot travel path that isperpendicular to the axis while the first arm proximal end movesparallel with the axis away or toward the second arm proximal end,wherein the dermal contact surface moves with the third pivot; whereinthe first securing member is movable along the axis towards or away fromthe second securing member and the first securing member and the secondsecuring member move in unison at a same rate along the axis; andwherein movement of the first securing member along the axis causesresponsive movement of the third pivot and the dermal contact surfacerelative to the housing in a direction having a movement componentlinearly perpendicular to the axis.
 10. The tactile output apparatus ofclaim 9 further comprising an electromagnet configured to selectivelygenerate a magnetic field to cause movement of the first securingmember.
 11. The tactile output apparatus of claim 9 further comprising abiasing member disposed between the first securing member and the secondsecuring member, the biasing member being configured to urge the firstsecuring member and the second securing member apart and the third pivottowards a fully retracted position.
 12. The tactile output apparatus ofclaim 9 further comprising a first control cable operably coupled to thefirst securing member, wherein actuation of the first control cablemoves the first securing member along the axis towards or away from thesecond securing member.
 13. A method comprising: actuating a controlcable operably coupled to a first securing member to move the firstsecuring member and a second securing member in unison at a same ratewithin a housing linearly towards each other along an axis, the axisdefined by the first securing member and the second securing member;pivoting a first arm relative to the first securing member in responseto moving the first securing member towards the second securing member,the first arm being pivotally coupled to the first securing member at aproximal end of the first arm; pivoting a second arm relative to thesecond securing member in response to moving the second securing membertowards the first securing member, the second arm being pivotallycoupled to the second securing member at a proximal end of the secondarm and a distal end of the second arm being pivotally coupled to adistal end of the first arm at an arm pivot point; moving the arm pivotpoint relative to the housing in a direction having a movement componentperpendicular to the axis while the proximal end of the first arm movesparallel with the axis away or toward the proximal end of the secondarm, in response to the movement of the first securing member and thesecond securing member, wherein movement of the arm pivot point causesmovement of a dermal contact surface that moves with the arm pivotpoint; and in response to the movement of the dermal contact surface,applying a tactile force on a dermal surface of a user via the dermalcontact surface to provide tactile output to the user.
 14. The method ofclaim 13 wherein actuating the control cable to move the first securingmember comprises actuating the control cable to move the first securingmember against an urging force of a biasing member.
 15. The method ofclaim 13 wherein causing the arm pivot point to move comprises causingthe arm pivot point to move to a fully extended position, wherein, withthe arm pivot point in the fully extended position, a distance betweenthe dermal contact surface and a top surface of the housing is largerthan a depth of a cavity of the housing, wherein the first securingmember and the second securing member are disposed within the cavity ofthe housing.
 16. The method of claim 13 wherein the axis is furtherdefined by a rod that passes through the first securing member and thesecond securing member.